// --------------------------------------------------------------------------------------------------------------------
// <copyright file="JointSignalType.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
// 
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namespace Microsoft.Robotics.Manipulation.JointController
{
    using System;
    using System.Collections.Generic;
    using System.Linq;
    using System.Text;
    using System.Threading.Tasks;

    /// <summary>
    /// Types of control signals for joints
    /// </summary>
    public enum JointSignalType
    {
        /// <summary>
        /// Position in radians
        /// </summary>
        Position,

        /// <summary>
        /// Velocity in radians/sec
        /// </summary>
        Velocity,

        /// <summary>
        /// Acceleration in radians/sec^2
        /// </summary>
        Acceleration,

        /// <summary>
        /// Torque in Nm
        /// </summary>
        Torque
    }
}
